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Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator

Sörnmo, Olof LU ; Olofsson, Björn LU ; Schneider, Ulrich; Robertsson, Anders LU and Johansson, Rolf LU (2012) 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics In 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) p.104-110
Abstract
The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the... (More)
The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the proposed compensation mechanism is increased up to three times compared to the uncompensated case. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
pages
104 - 110
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
external identifiers
  • WOS:000309064200018
  • Scopus:84866933822
ISBN
978-1-4673-2575-2
DOI
10.1109/AIM.2012.6265942
language
English
LU publication?
yes
id
8cc4fc26-159e-45e4-b047-b7e81a7e759b (old id 2541374)
date added to LUP
2012-05-22 09:28:37
date last changed
2017-01-01 08:07:54
@inproceedings{8cc4fc26-159e-45e4-b047-b7e81a7e759b,
  abstract     = {The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the proposed compensation mechanism is increased up to three times compared to the uncompensated case.},
  author       = {Sörnmo, Olof and Olofsson, Björn and Schneider, Ulrich and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
  isbn         = {978-1-4673-2575-2},
  language     = {eng},
  pages        = {104--110},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator},
  url          = {http://dx.doi.org/10.1109/AIM.2012.6265942},
  year         = {2012},
}